On the BCH-formula in so(3) (original) (raw)
Kenth Eng�
Reports in Informatics No. 201, September 2000, Department of Informatics, University of Bergen, Norway.
Abstract
We find a closed-form expression for the Baker--Campbell--Hausdorff formula in the Lie algebra so(3)\so(3)so(3), and interpret the formula geometrically in terms of rotation vectors in R3\R^3R3.
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